Crane vehicle

ABSTRACT

A crane vehicle achieves safe movement by reliably detecting an obstacle in a region which is a blind spot from the opposite side of the driver seat across a boom. The crane vehicle includes an obstacle sensor which is a transmission/reception antenna that transmits a detection wave and receives the detection wave reflected from the obstacle. A signal corresponding to the reflected wave received by the obstacle sensor is amplified and input to a controller, which calculates the position and the size of the obstacle on the basis of the signal. The controller generates an obstacle display image and displays the image on a display, the obstacle display image including a vehicle object that represents a crane vehicle and an obstacle object which is an object corresponding to the calculated size of the obstacle and which is disposed at a position corresponding to the calculated position of the obstacle.

TECHNICAL FIELD

The present invention relates to a self-traveling crane vehicle.

BACKGROUND

A self-traveling crane vehicle includes a traveling body and a cranedevice mounted on the traveling body. The crane device is supported bythe traveling body through a swivel base, and the swivel base may beprovided with a driver seat.

Japanese Patent No. 2003-238077 discloses a crane vehicle in which anultrasonic sensor is arranged at a front end of a boom of a cranedevice. The ultrasonic sensor irradiates ultrasonic waves forward in thetraveling direction of a traveling body, receives a reflected wavereflected by an object to be detected, and detects the distance to theobject to be detected. Accordingly, it is determined whether the objectto be detected is an obstacle during traveling or crane work of thecrane vehicle.

Meanwhile, the crane device is mounted at the centre of the travelingbody, and the driver seat is arranged on one side (for example, theright side of the traveling body) in the width direction of thetraveling body. Thus, during traveling or during crane work, the otherside in the width direction (for example, the left side of the travelingbody) becomes a blind spot for the operator.

In the crane vehicle described in Japanese Patent No. 2003-238077,obstacles cannot be sufficiently detected in the region which is a blindspot from the driver seat.

SUMMARY OF INVENTION

The present invention has been made based on the above background and anobjective thereof is to provide a crane vehicle that achieves safemovement by reliably detecting an obstacle in a region which is a blindspot from a driver seat, namely, a region on the opposite side of thedriver seat across a crane device.

(1) The crane vehicle according to the present invention includes atraveling body on which a crane device is mounted, a driver seatarranged on one side in a width direction of the traveling body, a firstsensor that outputs a signal corresponding to a distance to an obstaclelocated on the other side in the width direction, a controller, and adisplay. The controller displays an obstacle display image including afirst object that represents a picture of the crane vehicle stored in amemory and a second object that represents a picture of the obstacledetected by the first sensor on the display. The distance between thefirst object and the second object corresponds to the distance detectedby the first sensor.

Because the obstacle display image including the first object and thesecond object is displayed on the display, the operator of the cranevehicle can easily recognize the position of the obstacle with respectto the crane vehicle. In addition, because the distance between thefirst object that represents the crane vehicle and the second objectthat represents the obstacle corresponds to the distance detected by thefirst sensor, the operator can easily recognize the distance from thecrane vehicle to the obstacle.

(2) The controller sets the color of the second object to a firstpredetermined color when the distance to the obstacle is equal to orgreater than a threshold distance stored in the memory, and sets thecolor of the second object to a second predetermined color differentfrom the first predetermined color when the distance to the obstacle isless than the threshold distance stored in the memory.

When an obstacle approaches, the color of the obstacle is changed fromthe first predetermined color to the second predetermined color, thusenabling the operator to instantly recognize that the obstacle isapproaching.

(3) The crane vehicle according to the present invention may furtherinclude an input device. The controller receives, through the inputdevice, a selection of one image from a bird's-eye view image viewedfrom above, a front image of a viewpoint directed forward, and a sideimage directed toward the other side, and displays the received image onthe display as the obstacle display image.

According to the above configuration, an image that the operator feelseasy to see can be displayed on the display.

(4) The controller may receive an enlargement instruction instructingthe enlargement of a partial region of the obstacle display imagethrough the input device, and displays, in response to reception of theenlargement instruction, an enlarged image obtained by enlarging theregion on the other side in the width direction of the traveling body onthe display.

When an operator inputs an enlargement instruction through the inputdevice, a region which is a blind spot from the driver seat is enlargedand displayed on the display. That is, the region which is a blind spotfrom the driver seat is enlarged without prompting the operator todesignate the region to be enlarged. Thus, operation of the driver isfacilitated.

(5) The crane device according to the present invention may further havea speaker. The controller causes the speaker to generate a warning soundwhen the distance to the obstacle is less than the threshold distancestored in the memory.

The sound also notifies that the obstacle is approaching. Thus, theoperator can recognize the approaching of the obstacle more reliably.

(6) The driver seat has a steering wheel for determining the steeringangle of the wheels of the traveling body. The crane device may furtherinclude a second sensor for outputting a signal that corresponds to thesteering angle of the steering wheel and a third sensor for outputting asignal that corresponds to the speed of the traveling body. Thecontroller determines whether the obstacle detected by the first sensoris a moving object or a fixed object from the signals input from thefirst sensor, the second sensor, and the third sensor, and sets thesecond predetermined color to a third predetermined color different fromthe second predetermined color in response to a determination that theobject is a moving object.

If the distance from the crane vehicle to the obstacle is short and theobstacle is a moving object, the color of the first object is changedfrom the second predetermined color to the third predetermined colordifferent from the second predetermined color. Therefore, the operatorcan easily recognize that the obstacle requires more attention.

(7) The crane device has a boom that can be raised, lowered andstretched. The first sensor is arranged at the front end of the boom. Inresponse to reception of a signal output from the first sensor andcorresponding to the distance from the front end of the boom to a loadsuspended by the boom, the controller may display the distance on thedisplay.

The distance from the front end of the boom to the load suspended by theboom can be detected by the first sensor configured to detect anobstacle during movement of the crane vehicle, and the distance can bedisplayed on the display.

(8) The crane vehicle according to the present invention may furtherinclude a fourth sensor for receiving infrared rays incident from theother side in the width direction. The controller determines whether theobstacle detected by the first sensor is a person or not in accordancewith a signal input from the fourth sensor, and sets the secondpredetermined color to a fourth predetermined color different from thesecond predetermined color in response to a determination that theobstacle is a person.

When the distance from the crane vehicle to the obstacle is short andthe obstacle is a person, the color of the first object is changed fromthe second predetermined color to the fourth predetermined colordifferent from the second predetermined color. Therefore, the operatorcan easily recognize that the obstacle requires more attention.

(9) The crane vehicle according to the present invention may furtherinclude a plurality of cameras for capturing images of the periphery ofthe traveling body. The obstacle display image includes the imagescaptured by the cameras.

This enables the driver (manipulator) to recognize the situation aroundthe crane vehicle as well.

Advantageous Effects of Invention

According to the present invention, safe movement can be achieved byreliably detecting an obstacle in a region which is a blind spot from adriver seat, namely, a region on the opposite side from the driver seatacross a crane device.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a right side view of a crane vehicle 10 according to anembodiment.

FIG. 2 is a schematic view of the inside of a cabin 13.

FIG. 3 is a schematic plan view of the crane 10 according to theembodiment.

FIG. 4 is a functional block diagram of the crane 10 according to theembodiment.

FIG. 5 is a flowchart of display processing.

FIG. 6 is a flowchart of obstacle detection processing.

FIG. 7(A) is a diagram showing a bird's-eye view image displayed on adisplay 48, and

FIG. 7(B) is a diagram showing an enlarged bird's-eye view image.

FIG. 8 is a flowchart of display processing of Modification example 1.

FIG. 9 is a perspective view of a crane vehicle 70 of Modificationexample 2.

FIG. 10 is a flowchart of display processing of Modification example 2.

FIG. 11 is a flowchart of display processing of Modification example 3.

FIG. 12 is a schematic plan view of the crane vehicle 10 according toModification example 4.

DETAILED DESCRIPTION OF EMBODIMENTS

Hereinafter, a preferred embodiment of the present invention isdescribed with reference to the drawings as appropriate. Moreover, thepresent embodiment is only one aspect of the present invention, and itis evident that the embodiment may be changed without changing the gistof the present invention.

A crane vehicle 10 of the present embodiment is shown in FIG. 1. Thecrane vehicle 10 mainly includes a traveling body 11, a crane device 12mounted on the traveling body 11, and a cabin 13 for an operator whodrives the traveling body 11 and manipulates the crane device 12 to sitin. That is, the crane vehicle 10 is a rough terrain crane in which thedriving of the traveling body 11 and the manipulation of the cranedevice 12 are performed in the cabin 13.

In a rough terrain crane, a crane device is equipped on a moving body, avehicle body is long, and only one cabin is arranged, thus making therange of the blind spot from the operator wider than in generalvehicles. In the present embodiment, the crane vehicle 10 that can besafely driven and manipulated is described.

Traveling Body 11

The traveling body 11 mainly includes a vehicle body 20, an engine (notshown) mounted on the vehicle body 20, a pair of left and right rearwheels 22 that are rotationally driven by the engine, and four steerablefront wheels 21. The front wheels 21 and the rear wheels 22 arerotatably held by the vehicle body 20. The front wheels 21 and the rearwheels 22 correspond to the “wheels” of the present invention.

During normal travelling of travelling on a road or the like, thedirection of the traveling body 11 is changed by steering the frontwheels 21.

In addition, the traveling body 11 includes a hydraulic pump (not shown)mounted on the vehicle body 20, and a swivel base motor 23 (FIG. 4)being a hydraulic motor driven by hydraulic oil supplied from thehydraulic pump. The swivel base motor 23 swings a swivel base 31 of thecrane device 12. The hydraulic pump supplies hydraulic oil to varioushydraulic cylinders and hydraulic motors included in the crane device 12in addition to the swivel base motor 23.

Hereinafter, the width direction of the crane vehicle 10 is described asthe left-right direction, and the direction in which the crane vehicle10 advances during normal traveling is described as the front.

The traveling body 11 includes a pair of front and rear outriggers 24for stabilizing the posture of the crane vehicle 10 during operation.The outrigger 24 includes an outer cylinder (not shown) fixed to thevehicle body 20 and extending in the left-right direction, a pair ofleft and right inner cylinders (not shown) held by the outer cylinder soas to be slidable in the left-right direction, and a pair of left andright jacks 25 arranged at the front ends of the inner cylinders. Thejack 25 is a jack cylinder capable of stretching and contracting in theup-down direction. A ground plate 26 is arranged at the lower end of thejack 25. The jack 25 is pulled out from the vehicle body 20 by thehydraulic cylinder (not shown) and then extended to ground the groundplate 26 to an iron plate or the like placed on the ground.

When the crane vehicle 10 is moved, the jacks 25 are brought into ahoused state in which the jacks 25 are close to the vehicle body 20, andthe crane vehicle 10 is supported by the front wheels 21 and the rearwheels 22. On the other hand, during working, the crane vehicle 10 issupported by the four jacks 25 that are pulled out and extended.

In addition, the traveling body 11 includes a battery 27 (FIG. 4) thatis charged by driving the engine. The battery 27 supplies adirect-current voltage to a power supply circuit 65 described later.

Crane Device 12

The crane device 12 includes a swivel base 31 swivably supported by thevehicle body 20, and a boom 32 supported by the swivel base 31 so as tobe capable of rising up and falling down.

The swivel base 31 is located on the upper surface of substantially thecentral portion of the vehicle body 20 in the front-rear direction. Theswivel base 31 is swivably supported by, for example, a swing bearing(not shown) arranged in the vehicle body 20. The swivel base 31 isrotated by the swivel base motor 23 arranged in the vehicle body 20.

A swivel (not shown) is arranged between the vehicle body 20 and theswivel base 31 so as to circulate hydraulic oil, cooling water, orelectricity (power and signals) between the vehicle body 20 and theswivel base 31. Because the structure of the swivel is publicly known,detailed description thereof is omitted.

The boom 32 is located on the left side of the swivel base 31 and issupported by the swivel base 31 so as to be capable of rising up andfalling down. The boom 32 is made to rise up and fall down by aderricking cylinder 33 (FIG. 4) arranged between the swivel base 31 andthe boom 32. The derricking cylinder 33 is a hydraulic cylinder, andstretches and contracts when the hydraulic oil is supplied through theswivel from the hydraulic pump arranged in the vehicle body 20.

The boom 32 has a plurality of frames arranged in a nested manner and iscapable of stretching and contracting. The boom 32 is provided with atelescopic cylinder 34 that moves the frame. The telescopic cylinder 34is a hydraulic cylinder and stretches and contracts when the hydraulicoil is supplied through the swivel from the hydraulic pump arranged inthe vehicle body 20.

A hook 35 (FIG. 4) connected to one end of a wire is arranged at thefront end of the boom 32. The other end of the wire is connected to awinch 36 (FIG. 4). The winch 36 is driven by supplying the hydraulic oilfrom the hydraulic pump through the swivel. The hook 35 is lifted andlowered by driving the winch 36.

FIG. 1 shows a state of the crane vehicle 10 during normal traveling orduring moving at a work site (hereinafter, referred to as a movingstate). In the moving state, the boom 32 is contracted and laid down.The front end of the boom 32 in the moving state projects forward fromthe front surface of the vehicle body 20. Hereinafter, the boom 32 isassumed to be in the posture in the moving state unless otherwisespecified.

The cabin 13 is located on the upper surface of the right part of theswivel base 31. That is, the cabin 13 is aligned with the boom 32 in theleft-right direction. Therefore, in the moving state, the left side ofthe crane vehicle 10 becomes a blind spot from the operator sitting inthe cabin 13.

The cabin 13 has a substantially rectangular box shape. As shown in FIG.2, a driver seat 41 on which an operator sits, a driving device 42, amanipulation device 43, a display 48, an input device 49 (FIG. 4) usedfor switching the display of the display 48 and the like, and a controlbox (not shown) are housed in the inner space of the cabin 13.

The driving device 42 is used for driving the traveling body 11. Thedriving device 42 mainly includes a plurality of pedals 44 and asteering wheel 45. The pedal 44 is an input unit for receiving aninstruction to accelerate or decelerate the traveling body 11, and is anaccelerator pedal, a brake pedal, a clutch pedal, or the like. Thesteering wheel 45 is an input unit for receiving an instruction tochange the steering angle of the front wheels 21 of the traveling body11. Because the configuration of the driving device 42 is publiclyknown, detailed description thereof is omitted.

The manipulation device 43 is used to manipulate the crane device 12.Specifically, the operator's instructions of stretching/contracting thejacks 25 of the outrigger 24, swinging the swivel base 31, stretching orcontracting the boom 32, raising or lowering the boom 32, and drivingthe winch 36 are received. The manipulation device 43 is configured of,for example, a lever 46, a pedal 47, a switch (not shown), or the like.Because the configuration of the manipulation device 43 is publiclyknown, detailed description thereof is omitted.

The display 48 is arranged in the cabin 13 at a position deviated to theleft from the centre in the left-right direction. More specifically, thedisplay 48 is arranged on the left side of the steering wheel 45. Poweris supplied to the display 48 from a power supply circuit 65 describedlater and an image signal is input to the display 48 from a controller60 described later. The display 48 displays an image corresponding tothe input image signal. Specifically, the display 48 displays astretching state of the jacks 25, a swiveling angle of the swivel base31, a stretching state (length) of the boom 32, a derricking angle ofthe boom 32, and an obstacle detected by an obstacle sensor 50 describedlater.

The input device 49 has one or a plurality of operation units such aspush buttons operated by the operator. Alternatively, the input device49 has a touch sensor superimposed on the display 48. The input device49 receives at least an instruction to select an obstacle display modefor displaying an obstacle image in a moving state, an instruction toselect an image between a bird's-eye view image and a front image, aninstruction to select an enlarged display of an image, or the like.

A control substrate is housed in the control box (not shown). Aresistor, an integrated circuit, a diode, a capacitor, or amicrocomputer that realizes the controller 60, the power supply circuit65 and a transmission/reception circuit 66 shown in FIG. 4 are mountedin the control substrate.

The power supply circuit 65 is electrically connected to the battery 27through a cable and a swivel, and is supplied with a direct-currentvoltage from the battery 27. The power supply circuit 65 has a DC/DCconverter such as a switching regulator to convert the supplieddirect-current voltage into a direct-current voltage having a stablepredetermined voltage value (12 V, 5 V, 3.3 V, and the like) and outputsthe direct-current voltage. The power supply circuit 65 supplies thepredetermined direct-current voltage as a drive voltage to thecontroller 60, the display 48, and the transmission/reception circuit66.

As shown in FIG. 4, the controller 60 includes a CPU 61, a ROM 62 inwhich a program is stored, a RAM 63, a memory 64, and a communicationbus (not shown). The CPU 61 executes the program by sequentiallyexecuting the instructions described in the address of the programstored in the ROM 62. The RAM 63 temporarily stores data and the likewhen the program is executed. The CPU 61, the ROM 62, the RAM 63, andthe memory 64 are connected by the communication bus. Moreover, avehicle speed sensor 53 and a steering sensor 54, which are indicated bybroken lines in FIG. 4, are included in the configuration ofModification example 1 and are described in Modification example 1. Inaddition, an infrared sensor 52 shown by the broken line in FIG. 4 isincluded in the configuration of Modification example 3 and is describedin Modification example 3. Furthermore, a camera 55 shown by the brokenline in FIG. 4 is included in the configuration of Modification example4 and is described in Modification example 4.

The controller 60 is connected to the driving device 42, themanipulation device 43, the input device 49, the display 48, the speaker68, and the transmission/reception circuit 66. The controller 60 inputsan operation signal corresponding to the operator's instruction from thedriving device 42, the manipulation device 43, and the input device 49.In addition, the controller 60 outputs an image signal to the display 48and displays an image on the display 48. Furthermore, the controller 60outputs a control signal to the transmission/reception circuit.

In addition, the controller 60 outputs an audio signal to the speaker68. The speaker 68 is mounted on, for example, the control substrate.The speaker 68 outputs a sound corresponding to the input audio signal.

Besides, the controller 60 is connected to the swivel base motor 23, thederricking cylinder 33, the telescopic cylinder 34, the winch 36, and amember such as a solenoid valve for controlling the operation of thejacks 25, and controls the operation of the swivel base motor 23, thederricking cylinder 33, the telescopic cylinder 34, the winch 36, andthe jacks 25.

The transmission/reception circuit 66 is electrically connected toobstacle sensors 50A, 50B and 50C (described later) through a cable andthe swivel. The transmission/reception circuit 66 includes, for example,a transmission circuit for generating a detection wave, an amplifiercircuit for amplifying the detection wave generated by the transmissioncircuit and supplying the amplified detection wave to the obstaclesensor 50 being an antenna, and a detection circuit for generating andamplifying a detection signal corresponding to the radio waves receivedby the obstacle sensor 50 and outputting the amplified detection signalto the controller 60. The transmission/reception circuit 66 is driven byreceiving supply of power (direct-current voltage) from the power supplycircuit 65. The transmission/reception circuit supplies the detectionwave to the obstacle sensor 50 based on the control signal input fromthe controller 60, generates and outputs a detection signal.

The memory 64 is a non-volatile memory such as an EEPROM. The memory 64stores a vehicle object being a schematic picture of the crane vehicle10. The vehicle object is used to generate an obstacle image describedlater. In addition, the memory 64 also stores threshold distance andcolor data. The threshold distance and the color data are used fordetermining the color of the obstacle in the obstacle image.

Obstacle Sensor 50

As shown in FIG. 3, the crane vehicle 10 includes three obstacle sensors50A, 50B and 50C. As shown in FIG. 1, the obstacle sensor 50A isattached to the lower surface of the front end portion of the boom 32.As shown in FIG. 3, the obstacle sensor 50B is attached to the uppersurface of the central portion of the vehicle body 20 in the front-reardirection on the left side of the vehicle body 20. The obstacle sensor50C is attached to the upper surface of the central portion of thevehicle body 20 in the left-right direction on the rear side of thevehicle body 20. The obstacle sensor 50 corresponds to the “firstsensor” of the present invention.

The obstacle sensor 50A arranged on the boom 32 is electricallyconnected through a cable to the transmission/reception circuit 66 ofthe control substrate arranged in the cabin 13. The obstacle sensor 50Band the obstacle sensor 50C arranged on the vehicle body 20 areelectrically connected through a cable (not shown) and the swivel to thetransmission/reception circuit 66 of the control substrate arranged inthe cabin 13.

Hereinafter, when the obstacle sensors 50A, 50B and 50C are notdistinguished, they are described as the obstacle sensor 50.

The obstacle sensor 50 is a transmission/reception antenna fortransmitting and receiving radio waves. The obstacle sensor 50 transmitsradio waves (detection wave) through the transmission/reception circuit66 and receives radio waves (detection wave) reflected by the obstacle.

The obstacle sensor 50 being an antenna has directivity. In FIG. 3, thedirectivity of the obstacle sensor 50 is shown by hatching. The obstaclesensor 50A mainly transmits radio waves toward the front and the leftside of the crane vehicle 10, and receives radio waves incident from thefront and the left side of the crane vehicle 10 with high sensitivity.That is, the obstacle sensor 50A detects obstacles on the left side ofthe vehicle body 20 and in front of the vehicle body 20, which are blindspots from the cabin 13.

The obstacle sensor 50B mainly transmits radio waves toward the leftside of the crane vehicle 10 and receives radio waves incident from theleft side of the crane vehicle 10 with high sensitivity. That is, theobstacle sensor 50B detects obstacles on the left side of the vehiclebody 20, which is a blind spot from the cabin 13.

The obstacle sensor 50C mainly transmits radio waves toward the leftside and the rear side of the crane vehicle 10 and receives radio wavesincident from the left side and the rear side of the crane vehicle 10with high sensitivity. That is, the obstacle sensor 50C detectsobstacles on the left side of the vehicle body 20 and on the rear sideof the vehicle body 20, which are blind spots from the cabin 13.

Display Processing

Hereinafter, display processing in which the controller 60 displays animage on the display 48 when the crane vehicle is in the moving state isdescribed with reference to FIG. 5. Moreover, the execution order ofeach processing (each step) described below can be appropriately changedwithout changing the gist of the invention.

The controller 60 uses the input device 49 to determine whether theoperator has selected the obstacle display mode (S11). Specifically, thecontroller 60 determines whether a start signal has been input from theinput device 49. That is, the display processing is started when theoperator has selected the obstacle display mode.

The controller 60 waits until the start signal is input (S11: No). Whenthe controller 60 determines that the start signal has been input (S11:Yes), the controller 60 executes the obstacle detection processing(S12). Details of the obstacle detection processing are described withreference to FIG. 6.

Obstacle Detection Processing

First, the controller 60 outputs a control signal to thetransmission/reception circuit 66 (S31), and causes thetransmission/reception circuit 66 to transmit a detection wave from theobstacle sensor 50. The transmitted detection wave is reflected by theobstacle. The detection wave (reflected wave) reflected by the obstacleis received by the obstacle sensor 50. The reflected wave received bythe obstacle sensor 50 is processed by the transmission/receptioncircuit 66 and output to the controller 60 as a detection signal.Because the processing performed by the transmission/reception circuit66 is publicly known, detailed description thereof is omitted.

The controller 60 waits until a detection signal is input from thetransmission/reception circuit 66 (S32: No). When the detection signalis input (S32: Yes), the controller 60 detects the direction in whichthe obstacle is located (S33), the distance to the obstacle (S34), andthe size of the obstacle (S35), and ends the obstacle detectionprocessing.

For example, the controller 60 calculates the distance to the obstacle,the direction in which the obstacle is located (that is, the position ofthe obstacle), and the size of the obstacle from a time starting fromthe transmission of the detection wave by the obstacle sensor 50A untilthe reception of the reflected wave, a time starting from thetransmission of the detection wave by the obstacle sensor 50B until thereception of the reflected wave, the intensity distribution of thereceived reflected wave with respect to the reception angle (receptiondirection), and the like. In addition, the controller 60 calculates thedistance to the obstacle, the direction in which the obstacle is located(that is, the position of the obstacle), and the size of the obstaclefrom a time starting from the transmission of the detection wave by theobstacle sensor 50B until the reception of the reflected wave, a timestarting from the transmission of the detection wave by the obstaclesensor 50C until the reception of the reflected wave, the intensitydistribution of the received reflected wave with respect to thereception angle (reception direction), and the like. Moreover, thedetection of the position of the obstacle and the detection of the sizeof the obstacle are examples only, and other detection methods may alsobe used.

The controller 60 executes the processing of steps S33, S34 and S35 forall the detected obstacles.

As shown in FIG. 5, when the obstacle detection processing is ended(S12), the controller 60 determines whether the detected separationdistance is equal to or greater than the threshold distance stored inthe memory 64 (S13). That is, the controller 60 determines whether theobstacle is close to the crane vehicle 10. When the controller 60determines that the separation distance is equal to or greater than thethreshold distance (S13: Yes), the controller 60 sets the color of theobstacle to a first predetermined color indicated by color data storedin the memory 64 (S14). On the other hand, when the controller 60determines that the separation distance is not equal to or greater thanthe threshold distance (S13: No), the controller 60 sets the color ofthe obstacle to be a second predetermined color indicated by the colordata stored in the memory 64 (S15). The second predetermined color is,for example, red or yellow, and the first predetermined color is, forexample, green or blue. After the execution of step S15, the controller60 outputs an audio signal to the speaker 68 and causes the speaker 68to output a warning sound (S24). That is, when the distance to theobstacle is short, the speaker 68 outputs the warning sound. Thecontroller 60 executes the processing of steps S13 to S15 and S24 forall the detected obstacles.

Subsequently, the controller 60 determines the type of the imageselected by the operator using the input device 49 based on theoperation signal input from the input device 49 (S16). Specifically, thecontroller 60 determines whether the type of the image selected by theoperator is a “bird's-eye view image”, a “front image”, or a “leftimage”. The bird's-eye view image is an image captured when the cranevehicle 10 and its surroundings are viewed from above the crane vehicle10. The front image is an image captured when the front of the cranevehicle 10 is viewed from the crane vehicle 10. The left image is animage captured when the left side of the crane vehicle 10 is viewed fromthe crane vehicle 10.

When the controller 60 determines that the type of the image selected bythe operator is the “bird's-eye view image” (S16: bird's-eye viewimage), the controller 60 uses the vehicle object stored in the memory64 to generate an obstacle display image (FIG. 7(A)) being a bird's-eyeview image. More specifically, the controller 60 generates an obstacledisplay image including the vehicle object stored in the memory 64 andthe obstacle object that represents the obstacle detected by theobstacle detection processing. At that time, the controller 60 arrangesan obstacle object having a size corresponding to the size of theobstacle detected in the obstacle detection processing at the position(direction and distance) of the obstacle detected in the obstacledetection processing. In addition, the controller 60 generates anobstacle object with the color set in step S14 or S15. The vehicleobject corresponds to the “first object” of the present invention. Theobstacle object corresponds to the “second object” of the presentinvention. The image shown in FIG. 7(A) corresponds to the “obstacledisplay image” of the present invention.

Similarly, when the controller 60 determines that the type of the imageselected by the operator is the “front image” (S16: front image), thecontroller 60 generates an obstacle display image being a front image(S18), and generates an obstacle display image being a left image (S19)when the controller 60 determines that the type of the image selected byis the “left image” (S16: left image). The left image corresponds to the“side image” of the present invention.

After the obstacle display image (S17, S18, S19) is generated, thecontroller 60 determines whether the operator has instructed to enlargethe image by using the input device 49 (S20). Specifically, thecontroller 60 determines whether an operation signal indicating theenlargement of the image is input from the input device 49.

When the controller 60 determines that the operation signal indicatingthe enlargement of the image has been input from the input device 49(S20: Yes), the controller 60 generates an enlarged image (FIG. 7(B))obtained by enlarging the generated obstacle display image (S21). Thecontroller 60 enlarges a predetermined region of the obstacle displayimage to generate the enlarged image. Specifically, the controller 60generates the enlarged image obtained by enlarging the left region ofthe crane vehicle 10.

When the controller 60 determines that the operation signal indicatingthe enlargement of the image has not been input from the input device 49(S20: No), the processing of step S21 of generating the enlarged imageis skipped.

The controller 60 displays the bird's-eye view image generated in stepS17, the front image generated in step S18, the left image generated instep S19, or the enlarged image generated in step S21 on the display 48as an obstacle display image (S22).

Subsequently, the controller 60 determines whether the operator hasinput an instruction to end the obstacle display mode by using the inputdevice 49 (S23). Specifically, the controller 60 determines whether anend signal has been input from the input device 49. When the controller60 determines that the end signal has not been input (S23: No), thecontroller 60 returns to the processing of step S12 and continues thedisplay processing. On the other hand, when the controller 60 determinesthat the end signal has been input (S23: Yes), the controller 60 endsthe display processing.

Operation and Effect of the First Embodiment

In the present embodiment, an image (FIG. 7) including the vehicleobject and the obstacle object is displayed on the display 48, so thatthe operator of the crane vehicle 10 can easily recognize the positionof the obstacle with respect to the crane vehicle 10. In addition, thedistance between the vehicle object that represents the crane vehicle 10and the obstacle object that represents the obstacle corresponds to theseparation distance detected by the obstacle sensor 50, so that theoperator can easily recognize the distance from the crane vehicle 10 tothe obstacle.

In addition, in the present embodiment, when the obstacle is far fromthe crane vehicle 10, the color of the obstacle object is the firstpredetermined color (for example, blue), and when the obstacle is closeto the crane vehicle 10, the color of the obstacle object is the secondpredetermined color (for example, red), thus enabling the operator toinstantly recognize whether the obstacle is close to the crane vehicle10.

Besides, in the present embodiment, when the obstacle approaches, thecolor of the obstacle object is changed from the first predeterminedcolor (for example, blue) to the second predetermined color (forexample, red), thus enabling the operator to instantly recognize thatthe obstacle is approaching.

In addition, in the present embodiment, the image selected by theoperator from the “bird's-eye view image”, the “front image”, and the“left image” is displayed on the display 48. Thus, an image that theoperator feels easy to see can be displayed on the display.

Besides, in the present embodiment, when the operator inputs anenlargement instruction, the region on the left side of the cranevehicle 10, which is a blind spot from the driver seat 41, is enlargedand displayed on the display 48. That is, the region which is a blindspot from the driver seat 41 is enlarged without prompting the operatorto designate the region to be enlarged. Thus, the operation of theoperator is facilitated.

Besides, in the present embodiment, the sound output from the speaker 68also notifies that the obstacle is close to the crane vehicle 10. Thus,the operator can more reliably recognize that the obstacle is close tothe crane vehicle 10 or recognize that the obstacle is within thethreshold distance.

In addition, in the present embodiment, because the obstacle is detectedby radio waves, the obstacle can be reliably detected even when thesurroundings are dark such as at night. That is, the obstacle isreliably displayed on the display 48 even when the surroundings are darksuch as at night.

MODIFICATION EXAMPLE 1

In this modification example, an example is described in which thecontroller 60 determines whether the detected obstacle is a movingobject that moves or a fixed object that does not move.

The crane vehicle 10 described in this modification example furtherincludes the vehicle speed sensor 53 and the steering sensor 54 shown bybroken lines in FIG. 4. The vehicle speed sensor 53 outputs, as adetection signal, pulses of the number (per unit time) in accordancewith the vehicle speed of the crane vehicle 10. The steering sensor 54is, for example, a resolver or an encoder. The steering sensor 54outputs a signal as a detection signal in accordance with the rotationalposition (steering angle) of the steering wheel 45. The detectionsignals output by the vehicle speed sensor 53 and the steering sensor 54are input to the controller 60. The steering sensor 54 corresponds tothe “second sensor” of the present invention. The vehicle speed sensor53 corresponds to the “third sensor” of the present invention.

Display Processing

In this modification example, the controller 60 executes the displayprocessing shown in FIG. 8 instead of the display processing shown inFIG. 5. Moreover, in the display processing shown in FIG. 8, the sameprocessing as the display processing shown in FIG. 5 is denoted by thesame reference characters and the description thereof is omitted.

The controller 60 executes the processing of steps S11 to S15 and S24 asin the above embodiment (the display processing shown in FIG. 5).Subsequently, the controller 60 executes an obstacle determinationprocessing for determining whether the obstacle detected by the obstaclesensor 50 is a moving object or a fixed object (S51).

Specifically, the controller 60 calculates the traveling direction andthe vehicle speed (moving speed) of the crane vehicle 10 based on thedetection signals input from the vehicle speed sensor 53 and thesteering sensor 54. The traveling direction of the crane vehicle 10 is,for example, straight travel, reverse travel, left turn, right turn, orthe like. Next, the controller 60 calculates the moving direction andthe moving speed of the detected obstacle based on the temporal changein the position of the obstacle detected in the obstacle detectionprocessing (S12). The controller 60 determines that the detectedobstacle is a fixed object when the calculated traveling direction andvehicle speed (moving speed) of the crane vehicle 10 coincide with thecalculated moving direction and moving speed of the obstacle. On theother hand, the controller 60 determines that the obstacle is a movingobject when the calculated traveling direction and vehicle speed (movingspeed) of the crane vehicle 10 do not coincide with the calculatedmoving direction and moving speed of the obstacle. Moreover, the“determination of whether the obstacle is a moving body or a fixedobject” described above is an example only and may be performed by othermethods.

In response to the determination that the detected obstacle is a movingobject (S51: Yes), the controller 60 changes the second predeterminedcolor (for example, yellow) set in step S15 to a third predeterminedcolor (for example, red) different from the second predetermined colorand the first predetermined color (for example, blue) (S52). Inaddition, in response to the determination that the detected obstacle isa moving object (S51: Yes), the controller 60 changes the firstpredetermined color (for example, blue) set in step S14 to a fifthpredetermined color (for example, orange) different from the firstpredetermined color, the second predetermined color, and the thirdpredetermined color (S52). The third predetermined color and the fifthpredetermined color are colors previously stored in the memory 64. Onthe other hand, the controller 60 skips the processing of step S52 whenthe detected obstacle is not a moving object (that is, the detectedobstacle is a fixed object) (S51: No).

After executing step S52, the controller 60 executes the processing ofsteps S16 to S23 as in the embodiment described above, and ends thedisplay processing.

Operation and Effect of Modification Example 1

In this modification example, a fixed object such as a wall of abuilding and a moving object such as a pedestrian, a motorcycle, or abicycle are displayed with colors changed, thus enabling the user toinstantly recognize whether the object is a fixed object or a movingobject.

In addition, when the distance from the crane vehicle 10 to the obstacleis short and the obstacle is a moving object, the color of the obstacleobject is changed from the second predetermined color (for example,yellow) to the third predetermined color (for example, yellow), thusenabling the user to easily recognize that more attention is required.

MODIFICATION EXAMPLE 2

In this modification example, an example is described in which theobstacle sensor 50A is used to detect obstacles around a load suspendedby the hook 35 or a distance to the suspended load during the operationof the crane device 12.

The configuration of a crane vehicle 70 shown in FIG. 9 is the same asthe configuration of the crane vehicle 10 described in the firstembodiment, except that the crane vehicle 70 has a rotating body thatchanges the orientation of the antenna of the obstacle sensor 50A.

The input device 49 receives an instruction to select an obstacledetection mode for detecting obstacles around the load 71 during theoperation of the crane device 12.

Hereinafter, the display processing executed by the controller 60 duringthe operation of the crane device 12 is described with reference to FIG.10. The display processing is processing in which the presence/absenceof obstacles around the load 71, the distance from the front end of theboom 32 to the load 71, or the like is displayed on a state displayimage showing the swiveling angle of the swivel base 31, the derrickingangle of the boom 32, the length of the boom 32, and the like.

First, the controller 60 determines whether the operator has selectedthe obstacle detection mode by using the input device 49 (S41).Specifically, the controller 60 determines whether a start signal hasbeen input from the input device 49. That is, the display processing isstarted when the operator has selected the obstacle display mode.

The controller 60 waits until a start signal is input (S41: No). Whenthe controller 60 determines that the start signal has been input (S41:Yes), the controller 60 changes the orientation of the obstacle sensor50A (S42). Specifically, the orientation of the obstacle sensor 50A ischanged to the orientation in which the detection wave is irradiatedtoward the underneath of the front end of the boom 32.

Subsequently, the controller 60 executes obstacle detection processing(S43). Specifically, the controller 60 outputs a control signal to thetransmission/reception circuit 66 and receives a detection signal as inthe processing of step S31 (FIG. 6). The controller 60 determineswhether an obstacle exists around the load 71 based on the receiveddetection signal (S44).

When the controller 60 determines that an obstacle exists around theload 71 (S44: Yes), the controller 60 causes the display 48 to displayan image indicating that an obstacle exists around the load 71, orcauses the speaker 68 to output a warning sound (S45). Moreover, whetherthe object is the load 71 or the obstacle is determined by, for example,the position of the detected object. For example, the controller 60determines that the object located directly under the hook 35 is a“load” and the object existing around the “load” is an “obstacle”.

Subsequently, the controller 60 determines whether the operator hasinput an instruction to end the obstacle detection mode by using theinput device 49 (S48). Specifically, the controller 60 determineswhether an end signal has been input from the input device 49. When thecontroller 60 determines that the end signal has not been input (S48:No), the controller 60 returns to the processing of step S42 andcontinues the display processing. On the other hand, when the controller60 determines that the end signal has been input (S48: Yes), thecontroller 60 ends the display processing.

When the controller 60 determines that no obstacle exists in theprocessing of step S44 (S44: No), the controller 60 calculates asuspension distance being the distance to the load 71 (S46). Thesuspension distance is calculated from, for example, the time startingfrom the irradiation of the detection wave to the reception of thereflected wave reflected by the load 71.

The controller 60 displays the calculated suspension distance on thestate display image showing the swiveling angle of the swivel base 31,the derricking angle of the boom 32, the length of the boom 32, and thelike (S47). Subsequently, the controller 60 determines whether the endsignal has been input from the input device 49 (S48). When thecontroller 60 determines that the end signal has not been input (S48:No), the controller 60 returns to the processing of step S42 andcontinues the display processing. On the other hand, when the controller60 determines that the end signal has been input (S48: Yes), thecontroller 60 ends the display processing.

Operation and Effect of Modification Example 2

In this modification example, the obstacle sensor 50A arranged at thefront end of the boom 32 can be used to detect the distance to the load71 suspended by the crane device. In addition, an obstacle around theload 71 can be detected.

MODIFICATION EXAMPLE 3

In this modification example, an example is described in which infraredsensors 52 for detecting infrared rays is arranged in addition to theobstacle sensor 50.

The infrared sensors 52 are arranged adjacent to the obstacle sensors50A, 50B and 50C, respectively. That is, three infrared sensors 52 arearranged on the crane vehicle 10. The infrared sensor 52 corresponds tothe “fourth sensor” of the present invention.

The infrared sensor 52 includes a lens for collecting incident infraredrays, a light receiving unit for receiving the infrared rays collectedby the lens, and an amplifier circuit for amplifying and outputting asignal corresponding to the infrared rays received by the lightreceiving unit. The amplifier circuit is driven by the direct-currentvoltage supplied from the power supply circuit 65. That is, the infraredsensor 52 is arranged adjacent to the obstacle sensor 50, and therebythe power is supplied through the cable or the swivel connecting theobstacle sensor 50 and the control substrate.

A receiving unit may output a signal corresponding to the intensity ofthe received infrared ray, or may have a plurality of light receivingunits. The infrared sensor 52 having a plurality of light receivingunits outputs a signal corresponding to the difference in the intensityof the infrared rays received by each light receiving unit. That is,when an object to be detected such as a person who emits infrared raysmoves, the infrared sensor 52 outputs a detection signal indicating thatthe object to be detected has been detected.

The region where the lens of the infrared sensor 52 performs lightcollection corresponds to the directional region of the obstacle sensor50 being an antenna. That is, the lens of the infrared sensor 52collects the infrared rays that are incident from the region where theobstacle sensor 50 mainly irradiates the detection wave. Therefore, theinfrared sensor 52 detects the same region as the detection region ofthe obstacle sensor 50.

Display Processing

In this modification example, the controller 60 executes the displayprocessing shown in FIG. 11 instead of the display processing shown inFIG. 5. Moreover, in the display processing shown in FIG. 11, the sameprocessing as the display processing shown in FIG. 5 is denoted by thesame reference characters and the description thereof is omitted.

The controller 60 executes the processing of steps S11 to S15 and S24 asin the first embodiment (display processing shown in FIG. 5).Subsequently, the controller 60 determines whether the obstacle detectedby the obstacle sensor 50 is a “person” (S61). Specifically, thecontroller 60 calculates the position of the object to be detected thatemits infrared rays in the same manner as in the first embodiment, basedon the detection signals input from the plurality of infrared sensors52. The controller 60 determines whether the calculated position of theobject to be detected matches the position of the obstacle.Subsequently, the controller 60 determines whether the size of theobstacle detected by the obstacle sensor 50 is equal to or larger thanthe threshold value. The threshold value is previously stored in thememory 64. The controller 60 determines that the obstacle is a “person”when the position of the object to be detected matches the position ofthe obstacle and the size of the obstacle is equal to or larger than thethreshold value. Moreover, the above-mentioned “determination of whetherthe obstacle is a person or not” is an example only and may be performedby other methods.

When the controller 60 determines that the detected obstacle is a person(S61: Yes), the controller 60 changes the second predetermined color(for example, yellow) set in step S15 to the fourth predetermined color(for example, red) different from the second predetermined color, andchanges the first predetermined color (for example, blue) set in stepS14 to a sixth predetermined color (for example, orange) different fromthe second predetermined color, the first predetermined color (forexample, blue), and the fourth predetermined color (S62).

On the other hand, when the controller 60 determines that the detectedobstacle is not a person (S61: No), the controller 60 skips theprocessing of step S62. Then, the controller 60 executes the processingof steps S16 to S23 as in the first embodiment.

Operation and Effect of Modification Example 3

In this modification example, the color of the obstacle object is varieddepending on whether the obstacle is a person or not, thus enabling theuser to easily recognize whether the obstacle is a person or not.

In addition, when the distance from the crane vehicle 10 to the obstacleis short and the obstacle is a person, the color of the obstacle objectis changed from the second predetermined color (for example, yellow) tothe fourth predetermined color (for example, red), thus enabling theoperator to easily recognize that more attention is required.

Moreover, the configuration of this modification example may be added toModification example 1. In that case, the fourth predetermined color isdifferent from the second predetermined color and the thirdpredetermined color, and the sixth predetermined color is different fromthe fifth predetermined color.

MODIFICATION EXAMPLE 4

As shown in FIG. 12, the crane vehicle 10 of this modification exampleincludes a plurality of (four in the illustrated example) cameras 55.The first camera 55 is arranged in the front part of the crane vehicle10 to capture images in front of the crane vehicle 10. The second camera55 is arranged at the rear side of the crane vehicle 10 to captureimages back of the crane vehicle 10. The third camera 55 is arranged onthe left side of the crane vehicle 10 to capture images on the left sideof the crane vehicle 10. The fourth camera 55 is arranged on the rightside of the crane vehicle 10 to capture images on the right side of thecrane vehicle 10.

The camera 55 is electrically connected to the control substrate througha cable or a swivel. The camera 55 outputs the captured image as animage signal. The image signal output by the camera 55 is input to thecontroller 60. The controller 60 synthesizes a plurality of imagesrepresented by the input image signals to generate a bird's-eye viewimage of the periphery of the crane vehicle 10. Because the method bywhich the controller 60 generates a bird's-eye view image from aplurality of images is publicly known, detailed description thereof isomitted.

The controller 60 synthesizes the generated bird's-eye view images ofthe periphery of the crane vehicle 10 into the bird's-eye view imagedescribed in the embodiment, and displays the synthesized image on thedisplay 48 as an obstacle display image. Alternatively, the controller60 synthesizes the images captured by the camera 55 for capturing imagesin front of the crane vehicle 10 into the front image described in theembodiment, and displays the front image on the display 48 as anobstacle display image. Alternatively, the controller 60 synthesizes theimages captured by the camera 55 for capturing images on the left sideof the crane vehicle 10 into the left image described in the embodiment,and displays the left image on the display 48 as an obstacle displayimage.

Operation and Effect of Modification Example 4

In this modification example, in addition to the vehicle object and theobstacle object, the image of the periphery of the crane vehicle 10 isalso added to the obstacle display image, thus enabling the operator torecognize the situation around the crane vehicle 10 more easily.

Other Modification Examples

In the above embodiment, an example is described in which no obstaclesensor 50 is arranged on the right side of the swivel base 31 on whichthe cabin 13 is arranged. However, the obstacle sensor 50 may also bearranged on the right side of the swivel base 31.

In addition, in the above-described embodiment, an example is describedin which the boom 32 is located on the left side of the swivel base 31and the cabin 13 is located on the right side of the swivel base 31.However, the boom 32 may also be located on the right side of the swivelbase 31 and the cabin 13 may also be located on the left side of theswivel base 31.

Besides, in the above-described embodiment and modification examples, anexample is described in which the user selects whether to execute theobstacle detection mode. However, the obstacle detection mode may alwaysbe executed.

In addition, in the above-described embodiment, an example is describedin which the transmission/reception circuit 66 is mounted on the controlsubstrate, the obstacle sensor 50 being an antenna is arranged on theboom 32 or the vehicle body 20, and the transmission/reception circuit66 is electrically connected to the obstacle sensor 50 through a cableor a swivel. However, a transmission/reception module in which anantenna and the transmission/reception circuit 66 are integrated mayalso be used instead of the obstacle sensor 50 and thetransmission/reception circuit 66.

Furthermore, in the above-described embodiment, an example is describedin which the obstacle sensor 50 transmits the detection wave by thepower supplied from the power supply circuit 65 arranged in the cabin13. However, an antenna power supply circuit for supplying power to theobstacle sensor 50 may also be arranged in the vehicle body 20separately from the power supply circuit 65. The antenna power supplycircuit transforms the direct-current voltage supplied from the battery27 into a predetermined direct-current voltage and outputs thedirect-current voltage.

In addition, in the above-described embodiment, an example is describedin which a signal corresponding to the reflected wave received by theobstacle sensor 50 is input to the controller 60 through a cable or aswivel. However, the obstacle sensor 50 and the controller 60 may beconfigured to be capable of wirelessly communicating with each other,and a signal corresponding to the reflected wave received by theobstacle sensor 50 may be input to the controller 60 by wirelesscommunication. Specifically, the obstacle sensor 50 has a transmissionantenna for wireless communication. A reception antenna (patternantenna) for wireless communication is arranged in the controlsubstrate. The signal output from the obstacle sensor 50 is input to thecontroller 60 by wireless communication, and thus noise can be preventedfrom being superimposed on the signal at the swivel.

Besides, in Modification example 4 described above, an example isdescribed in which the image signal output by the camera 55 is input tothe controller 60 through a cable or a swivel. However, the camera 55and the controller 60 may be configured to be capable of wirelesslycommunicating with each other, and the image signal output by the camera55 may be input to the controller 60 by wireless communication.Specifically, the camera 55 is electrically connected to thetransmission antenna for wireless communication through a cable. Areception antenna (a pattern antenna or the like) for wirelesscommunication is arranged in the control substrate. The image signaloutput by the camera 55 is input to the controller 60 by wirelesscommunication. Thus, noise can be prevented from being superimposed onthe image signal at the swivel.

Furthermore, in the above-described embodiment, the obstacle sensor 50that transmits radio waves has been described. However, the obstaclesensor 50 may also irradiate light such as laser light. In that case,the obstacle sensor 50 includes a light emitting unit such as a lightemitting diode for irradiating light, a light receiving unit such as aphotodiode for receiving the light and outputting a voltagecorresponding to the intensity of the received light, and anamplification unit for amplifying the voltage output by the lightreceiving unit and outputting the amplified voltage as a detectionsignal.

In addition, in the above-described embodiment, the obstacle sensor 50that transmits radio waves has been described. However, the obstaclesensor 50 may also irradiate sound waves (including ultrasonic waves).In that case, an (ultra) ultrasonic wave sensor, a Doppler sensor, orthe like is used as the obstacle sensor 50. Moreover, when an obstacleis detected by sound waves, a temperature sensor for temperaturecompensation such as a thermistor for detecting the outside airtemperature is arranged on the crane vehicle 10.

1. A crane vehicle, comprising: a traveling body on which a crane deviceis mounted; a driver seat arranged on one side in a width direction ofthe traveling body; a first sensor that outputs a signal correspondingto a distance to an obstacle located on the other side in the widthdirection; a controller; and a display, wherein the controller displaysan obstacle display image including a first object that represents thecrane vehicle stored in a memory and a second object that represents anobstacle detected by the first sensor on the display, and the distancebetween the first object and the second object corresponds to thedistance detected by the first sensor.
 2. The crane vehicle according toclaim 1, wherein the controller sets the color of the second object to afirst predetermined color when the distance to the obstacle is equal toor greater than a threshold distance stored in the memory, and sets thecolor of the second object to a second predetermined color differentfrom the first predetermined color when the distance to the obstacle isless than the threshold distance stored in the memory.
 3. The cranevehicle according to claim 1, further comprising an input device,wherein the controller receives, through the input device, a selectionof one image from a bird's-eye view image viewed from above, a frontimage of a viewpoint directed forward, and a side image directed towardthe other side, and displays the received image on the display as theobstacle display image.
 4. The crane vehicle according to claim 3,wherein the controller receives, through the input device, anenlargement instruction instructing the enlargement of a partial regionof the obstacle display image, and displays, in response to reception ofthe enlargement instruction, an enlarged image obtained by enlarging theregion on the other side in the width direction of the traveling body onthe display.
 5. The crane vehicle according to claim 2, furthercomprising a speaker, wherein the controller causes the speaker togenerate a warning sound when the distance to the obstacle is less thanthe threshold distance stored in the memory.
 6. The crane vehicleaccording to claim 2, wherein the driver seat has a steering wheel fordetermining a steering angle of wheels of the traveling body, the cranedevice further comprises: a second sensor for outputting a signal thatcorresponds to the steering angle of the steering wheel, and a thirdsensor for outputting a signal that corresponds to the speed of thetraveling body, the controller determines whether the obstacle detectedby the first sensor is a moving object or a fixed object from thesignals input from the first sensor, the second sensor, and the thirdsensor, and sets the second predetermined color to a third predeterminedcolor different from the second predetermined color in response to adetermination that the object is a moving object.
 7. The crane vehicleaccording to claim 1, wherein the crane device has a boom capable ofbeing raised, lowered and stretched, the first sensor is arranged at afront end portion of the boom, and in response to reception of a signaloutput from the first sensor and corresponding to the distance from thefront end of the boom to a load suspended by the boom, the controllerdisplays the distance on the display.
 8. The crane vehicle according toclaim 2, further comprising a fourth sensor for receiving infrared raysincident from the other side in the width direction, wherein thecontroller determines whether the obstacle detected by the first sensoris a person or not in accordance with a signal input from the fourthsensor, and sets the second predetermined color to a fourthpredetermined color different from the second predetermined color inresponse to a determination that the obstacle is a person.
 9. The cranevehicle according to claim 1, further comprising a plurality of camerasfor capturing images of the periphery of the traveling body, wherein theobstacle display image includes the images captured by the cameras.